| 摘要 |
A controlling apparatus comprises a portion (11) for calculating a deviation between a process variable from a controlled system and a target value, a first portion (10) for receiving the deviation and executing a velocity-type I controlling calculation to obtain a first calculation output, a second portion (14, 32) for receiving the deviation and executing a velocity-type P or PD controlling calculation to obtain a second calculation output, a summing portion (15) for summing the first and second calculation outputs to obtain a velocity-type manipulative variable, a conversion portion (16) for converting the velocity-type manipulative variable into a positional manipulative variable, a portion (17, 19) for limiting a magnitude of the positional manipulative variable between upper and lower limits, and limiting a change rate of the positional manipulative variable within a predetermined change rate, and a judgment portion (20) for judging whether or not the positional manipulative variable is deviated from at least one of upper and lower limits and the change rate. The first portion includes an output unit (13) for the first calculation output, and a stopping unit (23) for selectively stopping the output of the first calculation output. When the judgment portion (20) determines that the manipulative variable is deviated, it supplies a signal to the stopping unit (23), and stops the summing operation by the summing portion. |
